Method for determining a time to impact in a danger zone for a vehicle having a pre-crash sensing system

• US 6,650,984 B1
• Filed: 07/23/2002
• Issued: 11/18/2003
• Est. Priority Date: 07/23/2002
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Prakah-Asante, Kwaku O., Rao, Manoharprasad K., Strumolo, Gary Steven, Smirnov, Nikolay V.
• Primary Examiner(s): Marc-Coleman, Marthe Y.
• Application Number:
  US10/201,664
• Time in Patent Office: 483 Days
• Field of Search: 701/45, 701/301, 701/302, 701/300, 342/72, 342/42, 342/43, 342/52, 342/55, 340/901, 340/902
• US Class Current: 701/45
• CPC Class Codes: B60R 21/013 including means for detecting collisions, impending collisions or roll-over
• CPC Class Codes: B60R 21/0132 responsive to vehicle motion parameters , e.g. to vehicle longitudinal or transversal deceleration or speed value
• CPC Class Codes: B60R 21/0134 responsive to imminent contact with an obstacle , e.g. using radar systems
• CPC Class Codes: G01S 13/723 by using numerical data
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 2013/9329 cooperating with reflectors or transponders

Abstract

A pre-crash sensing system (10) for a source vehicle (50) having a source vehicle length and a source vehicle width that is coupled to a countermeasure system (30) is described. The system includes an object sensor (17) generating object distance signal, object relative velocity signal and an object classification signal. A controller (12) is coupled to the object sensor (17). The controller determines a danger zone (52) based on the source vehicle length, source vehicle width, object length and object width. The controller determines a source vehicle time interval corresponding to the time the source vehicle is within the danger zone. Controller (12) determines an object time interval corresponding to the time the object is within the danger zone and when the source vehicle time interval corresponds with the target vehicle time interval. The controller activates the countermeasure system (30) when the source vehicle time interval coincides with the target vehicle time interval.

Claims

1. A pre-crash sensing system for a source vehicle having a source vehicle length and a source vehicle width coupled to a countermeasure system comprising:

an object sensor generating an object distance signal and object speed signal and an object classification signal; and

a controller coupled to said object sensor, said controller determining a danger zone in response to the source vehicle length, source vehicle width, object length and object width, determining a source vehicle time interval corresponding to the time the source vehicle is within said danger zone, determining a object time interval corresponding to the time the object is within said danger zone and, when the source vehicle time interval coincides with the target vehicle time interval, said controller activating the countermeasure system.

2. A system as recited in claim 1 further comprising, a source vehicle speed sensor generating a source vehicle speed wherein said controller determines a source vehicle time interval as a function of the source vehicle speed.

3. A system as recited in claim 2 wherein said controller determines a source vehicle time interval as a function of a source vehicle acceleration.

4. A system ass recited in claim 1 wherein said object sensor comprises a lidar sensor and a vision system.

5. A system as recited in claim 1 wherein said object sensor comprises a radar sensor and a vision system.

6. A system as recited in claim 1 wherein said controller determines an object time interval as a function of the object speed.

7. A system as recited in claim 6 wherein said controller determines an object time interval as a function of an object acceleration.

8. A system as recited in claim 1 wherein the countermeasure comprises pre-arming airbags, pretensioning motorized belt pretensioners, dipping the nose of the vehicle and adjusting the host vehicle suspension height.

9. A system as recited in claim 1 wherein said controller determines an angle between a source vehicle direction and an object direction.

10. A system as recited in claim 9 wherein said controller determines the source vehicle time interval as a function of a source vehicle speed, said angle and the source vehicle acceleration.

11. A system as recited in claim 9 wherein said controller determines the object time interval as a function of the object speed, said angle and object acceleration.

12. A system as recited in claim 1 wherein the object comprises a target vehicle.

13. A method for operating a pre-crash sensing system for a source vehicle having a source vehicle width and length having a countermeasure system, said method comprising:

measuring a source vehicle speed;

determining an object distance, object relative velocity and object travel direction;

determining an object classification with a vision system;

determining an object length and object width corresponding to the object classification;

determining a danger zone based on the source vehicle length, source vehicle width, object length, object width and object travel direction;

determining a source vehicle time interval corresponding to the time the source vehicle is within said danger zone;

determining an object time interval corresponding to the time the object is within said danger zone; and

when the source vehicle time interval coincides with the object time interval, activating the countermeasure system.

14. A method as recited in claim 13 wherein determining a source vehicle time interval comprises determining a first time point and a last time point when said source vehicle is within the danger zone.

15. A method as recited in claim 13 wherein determining an object time interval comprises determining a first time point and a last time point when said object is within the danger zone.

16. A method as recited in claim 13 further comprising determining a source vehicle acceleration.

17. A method as recited in claim 16 wherein determining a source vehicle time interval comprises determining the source vehicle time interval corresponding to the time the source vehicle is within said danger zone as a function of the source vehicle speed and source vehicle acceleration.

18. A method as recited in claim 13 further comprising determining an angle between a source vehicle direction and an object direction.

19. A method as recited in claim 18 wherein determining a source vehicle time interval comprises determining the source vehicle time interval corresponding to the time the source vehicle is within said danger zone as a function of a source vehicle speed, said angle and the source vehicle acceleration.

20. A method as recited in claim 13 wherein activating the countermeasure system comprises pre-arming airbags, pretensioning motorized belt pretensioners, dipping the nose of the vehicle and adjusting the host vehicle suspension height.

21. A method for operating a pre-crash sensing system for a source vehicle having a source vehicle width and length having a countermeasure system, said method comprising:

measuring a source vehicle speed;

measuring a source vehicle acceleration;

determining a target vehicle distance and target vehicle velocity;

determining a target vehicle acceleration;

determining a target vehicle classification with a vision system;

determining a target vehicle length and target vehicle width corresponding to the target vehicle classification;

determining an angle between a source vehicle direction and a target vehicle direction;

determining a danger zone based on the source vehicle length, source vehicle width and object length and object width;

determining a source vehicle time interval corresponding to the time the source vehicle is within said danger zone as a function of the angle, the source vehicle velocity and the source vehicle acceleration;

determining a target vehicle time interval corresponding to the time the target vehicle is within said danger zone as a function of the angle, the target vehicle velocity and target vehicle acceleration; and

when the source vehicle time interval coincides with the target vehicle time interval, activating the countermeasure system.

22. A method as recited in claim 21 wherein determining a target vehicle distance and target vehicle velocity comprises determining a target vehicle distance and target vehicle velocity with a radar system.